Realization of virtual slave model of a forceps robot using bilateral control

A. M. Harsha; S. Abeykoon; Kouhei Ohnishi

doi:10.1109/IECON.2006.348100

Realization of virtual slave model of a forceps robot using bilateral control

A. M. Harsha, S. Abeykoon, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

Bilateral control enables the operator to be placed away from the working environment. Slave manipulator usually works in a remote site or in a hazardous environment. Master operator is sensing the environment through the slave manipulator. Bilateral control can also be used in surgeries. Usually doctors are very sensitive to the tactile sensation they feel through medical tools. If bilateral control is used in surgery, ideally doctor should feel the feeling of the body tissue and the reaction force from the specialized tool. In this paper bilateral control is implemented for a forceps robot. Virtual spring acting on the end of the forceps is implemented to the bilateral control so that operator at the master side could feel the spring feeling together with the environment.

Original language	English
Title of host publication	IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Pages	4468-4473
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2006.348100
Publication status	Published - 2006 Dec 1
Event	IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France Duration: 2006 Nov 6 → 2006 Nov 10

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Other

Other	IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Country/Territory	France
City	Paris
Period	06/11/6 → 06/11/10

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2006.348100

Cite this

Harsha, AM, Abeykoon, S & Ohnishi, K 2006, Realization of virtual slave model of a forceps robot using bilateral control. in IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics., 4153639, IECON Proceedings (Industrial Electronics Conference), pp. 4468-4473, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics, Paris, France, 06/11/6. https://doi.org/10.1109/IECON.2006.348100

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AB - Bilateral control enables the operator to be placed away from the working environment. Slave manipulator usually works in a remote site or in a hazardous environment. Master operator is sensing the environment through the slave manipulator. Bilateral control can also be used in surgeries. Usually doctors are very sensitive to the tactile sensation they feel through medical tools. If bilateral control is used in surgery, ideally doctor should feel the feeling of the body tissue and the reaction force from the specialized tool. In this paper bilateral control is implemented for a forceps robot. Virtual spring acting on the end of the forceps is implemented to the bilateral control so that operator at the master side could feel the spring feeling together with the environment.

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Realization of virtual slave model of a forceps robot using bilateral control

Abstract

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